Abdulwahab Alazeb¹, Muhammad Hanzla², Naif Al Mudawi^1,*, Mohammed Alshehri¹, Haifa F. Alhasson³, Dina Abdulaziz AlHammadi⁴, Ahmad Jalal^2,5

CMC-Computers, Materials & Continua, Vol.84, No.3, pp. 4677-4697, 2025, DOI:10.32604/cmc.2025.065899 - 30 July 2025

Abstract Unmanned Aerial Vehicles (UAVs) have become indispensable for intelligent traffic monitoring, particularly in low-light conditions, where traditional surveillance systems struggle. This study presents a novel deep learning-based framework for nighttime aerial vehicle detection and classification that addresses critical challenges of poor illumination, noise, and occlusions. Our pipeline integrates MSRCR enhancement with OPTICS segmentation to overcome low-light challenges, while YOLOv10 enables accurate vehicle localization. The framework employs GLOH and Dense-SIFT for discriminative feature extraction, optimized using the Whale Optimization Algorithm to enhance classification performance. A Swin Transformer-based classifier provides the final categorization, leveraging hierarchical attention mechanisms More >

Naif Al Mudawi^1,*, Muhammad Hanzla², Abdulwahab Alazeb¹, Mohammed Alshehri¹, Haifa F. Alhasson³, Dina Abdulaziz AlHammadi⁴, Ahmad Jalal^2,5

CMC-Computers, Materials & Continua, Vol.84, No.3, pp. 4491-4509, 2025, DOI:10.32604/cmc.2025.065490 - 30 July 2025

Abstract Unmanned Aerial Vehicles (UAVs) are increasingly employed in traffic surveillance, urban planning, and infrastructure monitoring due to their cost-effectiveness, flexibility, and high-resolution imaging. However, vehicle detection and classification in aerial imagery remain challenging due to scale variations from fluctuating UAV altitudes, frequent occlusions in dense traffic, and environmental noise, such as shadows and lighting inconsistencies. Traditional methods, including sliding-window searches and shallow learning techniques, struggle with computational inefficiency and robustness under dynamic conditions. To address these limitations, this study proposes a six-stage hierarchical framework integrating radiometric calibration, deep learning, and classical feature engineering. The workflow… More >

Zhuoyan Xie¹, Qi Wang^1,*, Bin Kong^2,*, Shang Gao¹

CMC-Computers, Materials & Continua, Vol.84, No.2, pp. 3013-3027, 2025, DOI:10.32604/cmc.2025.064147 - 03 July 2025

Abstract In the current era of intelligent technologies, comprehensive and precise regional coverage path planning is critical for tasks such as environmental monitoring, emergency rescue, and agricultural plant protection. Owing to their exceptional flexibility and rapid deployment capabilities, unmanned aerial vehicles (UAVs) have emerged as the ideal platforms for accomplishing these tasks. This study proposes a swarm A*-guided Deep Q-Network (SADQN) algorithm to address the coverage path planning (CPP) problem for UAV swarms in complex environments. Firstly, to overcome the dependency of traditional modeling methods on regular terrain environments, this study proposes an improved cellular decomposition… More >

Chao Li^1,3,#, Quanzhi Feng^1,3,#, Caichang Ding^2,*, Zhiwei Ye^1,3

CMC-Computers, Materials & Continua, Vol.84, No.2, pp. 3605-3621, 2025, DOI:10.32604/cmc.2025.063703 - 03 July 2025

Abstract The increasing adoption of unmanned aerial vehicles (UAVs) in urban low-altitude logistics systems, particularly for time-sensitive applications like parcel delivery and supply distribution, necessitates sophisticated coordination mechanisms to optimize operational efficiency. However, the limited capability of UAVs to extract state-action information in complex environments poses significant challenges to achieving effective cooperation in dynamic and uncertain scenarios. To address this, we presents an Improved Multi-Agent Hybrid Attention Critic (IMAHAC) framework that advances multi-agent deep reinforcement learning (MADRL) through two key innovations. Firstly, a Temporal Difference Error and Time-based Prioritized Experience Replay (TT-PER) mechanism that dynamically adjusts… More >

Reem Alkanhel^1,#, Abuzar B. M. Adam^2,#, Samia Allaoua Chelloug¹, Dina S. M. Hassan^1,*, Mohammed Saleh Ali Muthanna³, Ammar Muthanna⁴

CMC-Computers, Materials & Continua, Vol.84, No.1, pp. 607-624, 2025, DOI:10.32604/cmc.2025.063206 - 09 June 2025

Abstract The 3GPP standard defines the requirements for next-generation wireless networks, with particular attention to Ultra-Reliable Low-Latency Communications (URLLC), critical for applications such as Unmanned Aerial Vehicles (UAVs). In this context, Non-Orthogonal Multiple Access (NOMA) has emerged as a promising technique to improve spectrum efficiency and user fairness by allowing multiple users to share the same frequency resources. However, optimizing key parameters–such as beamforming, rate allocation, and UAV trajectory–presents significant challenges due to the nonconvex nature of the problem, especially under stringent URLLC constraints. This paper proposes an advanced deep learning-driven approach to address the resulting… More >

Mehmet Karahan^*

CMC-Computers, Materials & Continua, Vol.82, No.1, pp. 777-798, 2025, DOI:10.32604/cmc.2024.059123 - 03 January 2025

Abstract Advances in software and hardware technologies have facilitated the production of quadrotor unmanned aerial vehicles (UAVs). Nowadays, people actively use quadrotor UAVs in essential missions such as search and rescue, counter-terrorism, firefighting, surveillance, and cargo transportation. While performing these tasks, quadrotors must operate in noisy environments. Therefore, a robust controller design that can control the altitude and attitude of the quadrotor in noisy environments is of great importance. Many researchers have focused only on white Gaussian noise in their studies, whereas researchers need to consider the effects of all colored noises during the operation of… More >

Xinyu Liu^#, Longfei Wang^#, Yuxin Ma, Peng Shao^*

CMC-Computers, Materials & Continua, Vol.82, No.1, pp. 1349-1376, 2025, DOI:10.32604/cmc.2024.058294 - 03 January 2025

Abstract Stereoscopic agriculture, as an advanced method of agricultural production, poses new challenges for multi-task trajectory planning of unmanned aerial vehicles (UAVs). To address the need for UAVs to perform multi-task trajectory planning in stereoscopic agriculture, a multi-task trajectory planning model and algorithm (IEP-AO) that synthesizes flight safety and flight efficiency is proposed. Based on the requirements of stereoscopic agricultural geomorphological features and operational characteristics, the multi-task trajectory planning model is ensured by constructing targeted constraints at five aspects, including the path, slope, altitude, corner, energy and obstacle threat, to improve the effectiveness of the trajectory… More >

Ting Chen¹, Shuna Jiang², Xin Fan^3,*, Jianchuan Xia², Xiujuan Zhang², Chuanwen Luo³, Yi Hong³

CMC-Computers, Materials & Continua, Vol.81, No.2, pp. 2195-2217, 2024, DOI:10.32604/cmc.2024.056960 - 18 November 2024

Abstract In blockchain-based unmanned aerial vehicle (UAV) communication systems, the length of a block affects the performance of the blockchain. The transmission performance of blocks in the form of finite character segments is also affected by the block length. Therefore, it is crucial to balance the transmission performance and blockchain performance of blockchain communication systems, especially in wireless environments involving UAVs. This paper investigates a secure transmission scheme for blocks in blockchain-based UAV communication systems to prevent the information contained in blocks from being completely eavesdropped during transmission. In our scheme, using a friendly jamming UAV… More >

Zongdong Du^1,2, Xuefeng Feng³, Feng Li³, Qinglong Xian³, Zhenhong Jia^1,2,*

CMC-Computers, Materials & Continua, Vol.81, No.2, pp. 2607-2627, 2024, DOI:10.32604/cmc.2024.056616 - 18 November 2024

Abstract The importance of unmanned aerial vehicle (UAV) obstacle avoidance algorithms lies in their ability to ensure flight safety and collision avoidance, thereby protecting people and property. We propose UAD-YOLOv8, a lightweight YOLOv8-based obstacle detection algorithm optimized for UAV obstacle avoidance. The algorithm enhances the detection capability for small and irregular obstacles by removing the P5 feature layer and introducing deformable convolution v2 (DCNv2) to optimize the cross stage partial bottleneck with 2 convolutions and fusion (C2f) module. Additionally, it reduces the model’s parameter count and computational load by constructing the unite ghost and depth-wise separable… More >

Shijie Yang¹, Jiateng Yuan¹, Zhipeng Zhang¹, Zhibo Chen^1,2, Hanchao Zhang⁴, Xiaohui Cui^1,2,3,*

CMC-Computers, Materials & Continua, Vol.81, No.1, pp. 1529-1563, 2024, DOI:10.32604/cmc.2024.055402 - 15 October 2024

Abstract In recent years, sensor technology has been widely used in the defense and control of sensitive areas in cities, or in various scenarios such as early warning of forest fires, monitoring of forest pests and diseases, and protection of endangered animals. Deploying sensors to collect data and then utilizing unmanned aerial vehicle (UAV) to collect the data stored in the sensors has replaced traditional manual data collection as the dominant method. The current strategies for efficient data collection in above scenarios are still imperfect, and the low quality of the collected data and the excessive… More >